Positioning systems



Feb. 23, 1965 J. l. T. GREEN 3,170,341

- PosITIoNING SYSTEMS e", www

ATTO NEYS Feb. 23, 1965 J. l. T. GREEN PosITIoNING SYSTEMS 4 Sheets-Sheet 2 Filed July 5. 1960 IIL lNvEN-roR 7CH/v f/on Ewa/nvr @R52/v ATTORNEYS Feb. 23, 1965 J. l. T. GREEN 3,170,341

POSITIONING SYSTEMS Filed July 5. 1960 4 Shets-Sheet 3 ATTQRNEYS Feb. 23, 1965 J. l. T. GREEN 3,170,341

POSITIONING SYSTEMS Filed July 5, 1960 4 Sheets-Sheet 4 lNVENTOR .To/4N J'voR ENNA/vr GRn-N A-r'ron NEYS if the remote controlV system can-accurately Vlocate `the i United Pm O ll"SIlllitlNING SYS'IEll/ISv AJohn Ivor Tennant Green, London, Englaildrassiwor toV The British Iron and Steel Research Association,` London, England f l i v 'Filediluly 5, 1960, Ser. No. 40,736 8 Claims. (Cl. 74--822) This invention relates toposition-control apparatus and is particularly `concerned with' position-control Vapparatus 10 for accurately vpo-sitioning ak rotary member. An example ofthe Vapplication of the invention lies in the-con-ftrol of the angular position of thecarrie-r, or peel, of a manipulator used in conjunction'with a Yforging press, the manipulator supporting 'and manipulating an -ingot 15 during forging thereof;

An object of the present invention is to enable a rotary member to be accurately positioned and, in accordance with one aspect of the present'invention, position-control apparatus for a rotary member' comprises a remote con- 20 trolsystem arranged tolocate the member approximately at any one of a number of prescribed angular positions, and an indexing Vmechanism arranged to index the member vaccurately at the selected angular position when the tion by the remote control system.

vWhen a forging of square or `polygonal cross-section isto be made, there has been ditiiculty in presenting the ingot to the forging tools so that its faces aire ,paral'lel to the faces ofthe tools.` To turn the ingot accurately through the required: angle between passes requires a `great deal of skill in 'theoperators and, even'so, it can only be accomplished at-the expense 4of considerable time Wasted. v v

Where the peel is arranged to be located at-any one V of a number of prescribedangular positions by a revmote control system, for example as described in the specilication of US.4 patentfapplication Serial No. 852,- 272, tiled on November 12, 1959 `and now `U.S. Patent No. 3,139,569 (hereinafter referred to as the specication referred to?)the arrangement is usually of vnecessity such that-there is adead band at either side ofl each of any one prescribed angular position at which the remote 'control system can locate the peel. VEven i eel to vthe desired `angular position, -even light disturbing torques applied during `forging may shiftthe peel within the dead band. As aresult, the remote control system can onlyposition the'peel approximately to the desired angular location.

In accordance with a second aspect of the invention, i

a manipulator for supporting and `manipulating an article for a pressing operation hasxan indexing mechanism which is arranged `to operate on the manipulatorfand to, index the article accurately to a prescribed position or to yany one of a number of prescribed positions.I According to this aspect, the manipulator is preferably rst brought approximately to the prescribed position by a remote control system. The indexing mechanism may t be arrangedto yield and permitfangular movementof the manipulator on the Aoccurrence of high turning forces applied to the manipulator bythe forging press. This safeguards the manipulatortrom damage. 4

The invention Wil be more readily understood by way of example from the following description of an indexing mechanism for a manipulator as described in the specification refered to, reference being made tothe ac`- companying drawings of which FIGURE 1 is an incomplete Vside elevation o f the indexing mechanismFIG 7 URE 2 vis a vertical VI'Jart-section taken at right Vangles to FIGUR- E 1, FIGURES 3 and 4. correspond to FIG- lall Patented Feb. 2 3, 1965 URES 1 and 2 of the `specification referred to Whichare respectively 'sidelfand planV views of 'a manipulator forv useY in conjunctionwith a forging press, and FIGURES 5 and 6 correspond to FIGURES 5 and 6 of the speciiication referred to. Y

As shown in FIGURES 3 and 4, the manipulator includes a peel 17,V which is supportedby` bearing assemblies tlk and which carries at onevjenda pair of jaws 18 for holding an ingot to be forged. Withv the useof the remote control systems described in the specication referred to, the .peel 17 cam be moved inthe direction of -its length, Ycan be raised andl'weredfandieanbe Arotated about its longitudinal yaxis.

Rotation ofthe peel 17 about its longitudinal axis eitected by a hydraulic motor 76 arranged to drive a pinion 77 which meshes' With a gear wheel 78 secured to thepeel. v i

4VGear wheel 7S also meshes vwith a pinion S0 on the shaft of a synchro 81 which also drives a tacho-generator 79. i

As described in detail in the above mentioned specificationythe motor 76 is controlled by solenoid-operated `valves which ,are in turnV controll-edby relays. Control of' these relays is Ieffected by a setting synchro S2 (FIG- memberfhas been brought approximately to that posi- 25` URE 5),' the output of which depends on the angular difference between it and synchro 81 and is `applied to terminal 28 of a circuit generally similar .to that of FIGURE 4 oftheabove mentioned specification. This -circuit operates the control relays to V cause the lfrydraulicV Rotor winding @la is connected to the reference source of alternating current, windings Sib, a are connected together 'as shown, as are Vwindings Vv9012,82@,while stator winding 82a is connected to a line 28 connected to the control circuit illustrated particularlyin FIGURE 4 of the above mentioned specification, The initial Asetting f5 of the peel is adjusted -byoperation of the dial 91;,thereafter the peel may be rotated Vin a single .direction only through prescribed anglesfby the circuit of ,FIGURE 5'. `The circuit ofEIGURE 5' is designed to cause the setting synchro 82, and hence the peel '17, toturnfthrough any of a number of predetermined angles, Vwhichfinj theJ of the setting synchro 82 carries a ratchet wheelSlwhich is driven by Van electromagnetic ratchet device indicated at-S-t. vThis ratchet device 8 4 rotates the vratchet S3 The solenoid Y is supplied with thejreguisite "number of pulses for the required angle of mov-ement of the peel 17 bya uniselector, the various levels of which are shown at Z1-Z7, the Vcoil Yof which is shown vat Z and the'interruptor contacts of which are shown at IC.

The angle Vof movement of the peel 17 issel'ected by the positioning of a 4-position, rnultipole switch, the polesof which are shown Vat SW1-SW2, SW3 and SW4. When the switch -SW is placed Vin .its lirst position, as shown, to select an angle of 15, and the button PB is pressed, the relay P wis energised and the contacts P1 open. However, before contact P1 opens, a circuit is completed from the positive supply terminal 85;, vthrough 3 button PB, contacts P1 switch SW1 and SW2, the uniselector coil Z and the interruptor contacts IC to the negative supply terminal 86. As a result, the unisel-ector rotates-by one step. In levels Z1,Z2 which are connected in parallel, allthe contactsv are connected together, with the exception of every fourth contact. Therefore, the initial rotation of the uniselector through one step, causes the wipers in levels Z1, Z2. to be energised from the positive supply terminal 85 and to complete the circuit to coil Z and contacts IC. As a result, the solenoid Y, which is connected through switch SW3 and level Z3 in seriesfwith the wipers Z1, Z2 and the interruptorr contacts IC,k is supplied with four pulses and the synchro is rotated through an angle equal to four teeth of the ratchet wheel 83, i.e.v 15 .V JAfterMthe/uni-V selectorj h/as rotated through four steps, the wipers in level Z1, Z2 reach a contact which is not connected to terminal 85 and further stepping of the synchro stops.

When the switch SW is placed on any of the other three positions, corresponding to angles of 221/2 45 and 90, the coil Z and the contacts IC are pulsed through a circuit from terminal 85, button PB, contacts P1, switch SW1, a line 87, the first contact of level Z7, switch SW2, to the coil Z and contacts IC. The uniselector rotates through one step and, as the remaining contacts of level Z7 are connected to terminal 85, the uniselector continues to step through all its contacts until it returns to the first contact. The solenoid Y is connected through switch SW3 to the wipers of levels Z4, Z5, Z6. In level Z4 the second to seventh contacts are connected to switch SW4, so that when switch SW is placed in the 221/2" position, six pulses are applied by level Z4 to the solenoid Y and the synchro 82 is rotated through 221/2". Similarly, when switch SW is in either the 45 or 90 position, 12 or 24 pulses, respectively, are applied to the solenoid Y and the synchro is rotated through 45 and 90 respectively.

Referring now to FIGURES 1 and 2, the peel 17 has bolted to it, at a position adjacent to one of the two bearing assemblies 20 of the specication referred to, a pair of parallel plates 112 and 113.

` Each of the plates V112, 113 is provided with profiled notches 11S positioned with a high degree of precision at suitable angular intervals, for example 221/2 degrees, corresponding to the smallest angle through which the peel and therefore the ingot can be turned by the control system of FIGURES 5 and 6.

To that one of the bearing -assemblies 20 which lies adjacent to the plates 112 and 113, is secured the hydraulic ram 119 of an indexing assembly. The indexing assembly includes an indexing member in the form of a pair of detents each having a roller head 116. The roller heads 116 are carried on a carriage 117 which in turn is secured to the piston 118 of the hydraulic ram 119. The carriage 117, and hence the roller heads 116, are guided in their movement towards and away from the circular plates 112, 113 by vguide plates 121 located one at each side of the carriage 117.

The hydraulic ram 119 is double-acting, the hydraulic fluid being supplied from a constant-pressure source indicated schematically by the rectangle 123 which source may take any known form. 'Ihe hydraulic uid in ram 119 may be returned to source `123 when piston 118 is displaced in the ram. The piston 11S can thus reverse while maintaining engaging force on the roller heads 116, and thereby gives a normal positive locating action when operated in conjunction with the notched plates 112, 113. As a result of the use of a constant-pressure source, there will be a yielding and restoring characteristie when the peel is subjected to any force equivalent to a larger back pressure than the source pressure. The supply of hydraulic iluid to the ram 119 is controlled by a solenoid valve of which the valve and control circuits therefor are of any convenient known construction and arrangement and are indicated schematically by the rectangle 122. The control circuits extend to terminals 124 by which they are interlocked electrically with the remote cont-rol system for the angular positioning of the peel 17. The interlocking is such that rotation of the peel takes place only when the roller heads 116 are in the retracted position shown in FIGURES 1 and 2, and such that engagement of the detent mechanism with the notches 115 takes place automatically only after the rotation has ceased.

In operation, the remote control system of FIGURES 5 and 6 positions the peel within thefdead band limits, for example within 5 degrees of the required angular position. VThe ram 119 is -then automatically actuated to engage thev roller heads 116 with the adjacent notches 115 of the plates 112, and thereby, if necessary, rotates the peel slightly `to locate the peel accuratelyat the required angular position, On the subsequent forging operation, the indexing mechanism provides a limited positive force for retaining'the peel in the required angular position, but if, for example, the ingot is out of square -so that the peel is subjected to high rotational forces by the forging tools, the roller heads 116 are forced partially out of engagement with the notches 115 against the action of the ram V119. In other words, the indexing mechanism yields to permit movement of the peel and to prevent the manipulator being overturned. When the forces applied by the forging tools are removed, the roller heads 116 fully re-engage in the notches 115, and thereby accurately re-position the peel before the next angular movement occurs; as a result, cumulative errors in the positioning system are avoided. Lastly, the ram 119 is arranged to withdraw the roller heads 116 from the notches 115 before the remote control system is operated to locate the peel at another angular position.

While two indexingV plates 112 and two detent mechanisms 116 to 119 have been illustrated in the accompanying drawings, it will be understood that a single indexing plate and a single detent mechanism may be employed, if so desired.

With the indexing mechanism as described, the choice of angular positions at vwhich the ingot can be gripped by the jaws of the manipulator is limited to certain prescribed values. In modifications of the invention, provision may be made for adjusting the angular position of the jaws of the manipulator relatively to the peel, and/or for adjusting the angular p/osition of the detent mechanism about the axis of the peel. In either case, the magnitude of the maximum possible angular adjustment of the jaws or detent, in each direction of rotation, is preferably made equal to half the angular extent of the openings between the notches 115. Such adjustment ensures that the indexing mechanism can be set accurately to any angular position required for the gripping of the ingot.

I claim: i

1. A detent mechanism for accurately positioning a rotary member at a prescribed angular position, said mechanism comprising a detent mounted for movement along a fixed longitudinal axis, means for displacing said detent along said axis and for yieldably urging said detent into operative relationship with said rotary member with a substantially cons-tant force, and means on said rotary member. and said detent cooperating with one another to permit displacement of said detent along its longitudinal axis in opposition to said substantially constant force, such displacement being in response to a turning force acting on said rotary member greater than a predetermined value.

2. A detent mechanism for accurately positioning a rotary member at a prescribed angular position, said mechanism/comprising a detent mounted for movement along a iixed longitudinal axis, first means for displacing saidv detent along said axis, control means releasing the detent for movement into operational relationship with the rotary member only when said member is stationary,

sponse to a turning force acting on said rotary memberv greater than a predetermined value.

3. A detent mechanism for accurately positioning a rotary member at a perscribed angular position, said mechanism comprising a detent mounted for movement along a iixed longitudinal axis, iirst means for displacing said detent along said axis and for yieldably urgingrsaid detent into operative relationship with -said rotary member, control means releasing the detent for movement into operational relationship with the rotary member only when said member is stationary, andV second means on said rotary member and said detent means cooperating with one another to permit displacement of said detent along its longitudinal axis in opposition to said yieldable force, such displacement being in response to a turning force acting on said rotary member greater than a predetermined value.

4. A detent mechanismV as claimed in claim 1, wherein said cooperating means on the rotary member and detent comprises a number of notches formed on the periphery of the rotary member, said notches being -so profiled that a turning force acting on said rotary member causes a force to be transmitted to said detent, the line of action of said force being substantially parallel to the longitudinal axis of said detent.

5. A detent mechanism as claimed in claim 4, wherein 4each notch is Wedge shaped.

6. A detent mechanism as claimed in claim 5, wherein said detent has a roller head for engaging any one of said notches.

7. A detent mechanism for accurately positioning a rotary member at any selected one of a number of prescribed angular positions, comprising a detent displaceable along a rst axis disposed substantially at right angles to the axis of rotation of -said rotary member and having at one end thereof a roller head for engaging any one of a number of Wedge shaped notches formed on the periphery of said rotary member, and means for displacing said roller head into and out of engagement with said notch, which displacing means includes a fluid source under constant pressure for allowing said detent yto yield along a. second axis substantially coincident with said first axis in response to a turning force acting on said rotary member greater than a predetermined value. Y

8. A detent mechanism as claimed in claim 7, wherein the rotary member is the peel ofa forging manipulator.

References Cited by the Examiner UNITED STATES PATENTS 1,788,423 l/3l Diissner et al 74-822 X 1,809,444 6/31 Greve.

1,821,739 9/31 Cramer.

2,029,587 2/ 36 Rode.

2,672,773 3 5 4 Schoiield.

2,887,905 5 5 9 Reynolds 74--84 X 2,909,940 10/ 5 9 Dawkins 74--5 27 FOREIGN PATENTS 590,532 6/ 60 Canada.

BROUGHTON G. DURHAM, Primary Examiner. 

1. A DETENT MECHANISM FOR ACCURATELY POSITIONING A ROTARY MEMBER AT A PRESCRIBED ANGULAR POSITION, SAID MECHANISM COMPRISING A DETENT MOUNTED FOR MOVEMENT ALONG A FIXED LONGITUDINAL AXIS, MEANS FOR DISPLACING SAID DETENT ALONG SAID AXIS AND FOR YIELDABLY URGING SAID DETENT INTO OPERATIVE RELATIONSHIP WITH SAID ROTARY MEMBER WITH A SUBSTANTIALLY CONSTANT FORCE, AND MEANS ON SAID ROTARY MEMBER AND DETENT COOPERATING WITH ONE ANOTHER TO PERMIT DISPLACEMENT OF SAID DETENT ALONG ITS LONGITUDINAL AXIS IN OPPOSITION TO SAID SUBSTANTIALLY CONSTANT FORCE, SUCH DISPLACEMENT BEING IN RESPONSE TO A TURNING FORCE ACTING ON SAID ROTARY MEMBER GREATER THAN A PREDETERMINED VALUE. 